WO2021125142A1 - Construction machine - Google Patents

Construction machine Download PDF

Info

Publication number
WO2021125142A1
WO2021125142A1 PCT/JP2020/046597 JP2020046597W WO2021125142A1 WO 2021125142 A1 WO2021125142 A1 WO 2021125142A1 JP 2020046597 W JP2020046597 W JP 2020046597W WO 2021125142 A1 WO2021125142 A1 WO 2021125142A1
Authority
WO
WIPO (PCT)
Prior art keywords
construction machine
update
software
door
master controller
Prior art date
Application number
PCT/JP2020/046597
Other languages
French (fr)
Japanese (ja)
Inventor
バンダラ シャフリル
柴森　一浩
飯室　聡
Original Assignee
日立建機株式会社
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by 日立建機株式会社 filed Critical 日立建機株式会社
Priority to JP2021565574A priority Critical patent/JP7284291B2/en
Publication of WO2021125142A1 publication Critical patent/WO2021125142A1/en

Links

Images

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
    • B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
    • B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
    • E—FIXED CONSTRUCTIONS
    • E02—HYDRAULIC ENGINEERING; FOUNDATIONS; SOIL SHIFTING
    • E02F—DREDGING; SOIL-SHIFTING
    • E02F9/00—Component parts of dredgers or soil-shifting machines, not restricted to one of the kinds covered by groups E02F3/00 - E02F7/00
    • E02F9/26—Indicating devices
    • G—PHYSICS
    • G06—COMPUTING; CALCULATING OR COUNTING
    • G06F—ELECTRIC DIGITAL DATA PROCESSING
    • G06F8/00—Arrangements for software engineering
    • G06F8/60—Software deployment
    • G06F8/65—Updates

Definitions

  • the present invention relates to a construction machine, and more particularly to a construction machine having a function of remotely executing software update.
  • Patent Document 1 discloses a technique for starting the above.
  • Patent Document 1 when the construction machine is ready for software update, an update confirmation screen is displayed for the operator who operates the construction machine, and the operator is notified of the start of software update.
  • the update confirmation screen is a screen for confirming with the operator whether or not the construction machine is stopped in a safe place and therefore the work can be interrupted and the software can be updated.
  • Software update execution starts after confirming the operator's intention on the update confirmation screen.
  • Patent Document 1 also discloses that the update confirmation screen is set to be hidden when the operator continues the work so that the operator's work is not hindered when the update confirmation screen is displayed.
  • Patent Document 1 it is up to the operator to decide whether or not to start software update.
  • the hidden update confirmation screen may not be noticed, or even if it is noticed, it may be ignored.
  • the software update of the construction machine will not be executed forever.
  • Software updates for construction machinery include important matters related to the safety and basic operation of construction machinery. If work is continued without such important software updates being performed, it may affect the operation of construction machinery. In this way, in construction machinery, it is required that software updates are surely executed while avoiding impairing work efficiency.
  • the construction machine is an external server in a construction machine provided with a vehicle body, a driver's cab provided on the vehicle body and having a door, and a locking device for locking the door. It includes a communication controller that controls communication with and receives update information of software for controlling the construction machine, and an update master controller that executes an update operation of the software according to the update information.
  • the update master controller is configured to determine whether or not the door has been locked by the locking device, and when the locking by the locking device is confirmed, the update operation of the software is started.
  • FIG. 5 is an external configuration diagram illustrating an external configuration of a hydraulic excavator as an example of the construction machine 10 of the first embodiment. It is a block diagram explaining the structure of the control part of the construction machine 10 of 1st Embodiment. It is a block diagram which showed in detail the block which is related to software update among the functional blocks inside the communication controller 11, the update master controller 12, the door 13, and the slave controllers 14, 15, 16 of the 1st Embodiment. It is a flowchart explaining the processing flow of software update executed by the update master controller 12 of 1st Embodiment. It is a flowchart explaining the detail of step S102 in 2nd Embodiment.
  • FIG. 1 shows an example of an external configuration of a construction machine according to the first embodiment of the present invention
  • FIG. 2 is a block diagram of a control unit of the construction machine.
  • the construction machine 10 of the first embodiment is, for example, a hydraulic excavator, for example, an upper swivel body 1110, a lower traveling body 1120, a working machine 1130, and a swivel mechanism. It includes a 1140 and a cylinder 1160.
  • the upper swivel body 1110 is a part of a vehicle body that is rotatably attached to the upper part of the lower traveling body 1120 via a swivel mechanism 1140, and is provided with a driver's cab 1111 for the operator to operate.
  • the driver's cab 1111 is provided with a door 13 that partitions the driver's cab 1111 from the outside and can be opened and closed.
  • the door 13 is configured to be lockable by a physical key.
  • the upper swing body 1110 turns with respect to the lower traveling body 1120 around a rotation axis parallel to the height direction of the construction machine 10.
  • the upper swing body 1110 houses, for example, a hydraulic device including an engine and the like.
  • the lower traveling body 1120 includes, for example, a track 1121 driven by a hydraulic motor (not shown), and runs the construction machine 10 under the control of a control device.
  • the work machine 1130 is provided at the front portion of the upper swing body 1110 and is driven by the cylinder 1160 to perform work such as excavation work.
  • the working machine 1130 has, for example, a boom 1131, an arm 1132, and a bucket 1133.
  • the swivel mechanism 1140 has a hydraulic motor or an electric motor (not shown), and under the control of the control device, the upper swivel body 1110 and the lower traveling body 1120 are centered on a rotation axis parallel to the height direction of the construction machine 10. Turn against.
  • the hydraulic device which is one of the objects controlled by the control unit, includes a prime mover such as an engine 170, at least one hydraulic pump 171 driven by the prime mover, and a plurality of hydraulic devices driven by the pressure oil discharged from the hydraulic pump 171. It includes a hydraulic actuator and a plurality of valves 172 that control the flow of pressure oil discharged from the hydraulic pump 171 to each hydraulic actuator.
  • the hydraulic actuator includes, for example, a boom hydraulic cylinder for driving the boom 1131, arm 1132, and bucket 1133, a hydraulic cylinder for the arm, a bucket hydraulic cylinder, a traveling hydraulic motor for traveling the lower traveling body, and an upper swing body 1110. Includes a turning hydraulic motor, etc.
  • the construction machine 10 is provided with various controllers for controlling and processing the operation of each part.
  • the controller processes the operation signal of the slave controller 14 for controlling the rotation of the engine 170, the slave controller 15 for controlling the oil flow of the valve 172, and the operation lever 173 operated by the operator. It may include a slave controller 16 for the operation.
  • slave controllers 14 to 16 software necessary for controlling and processing various components of the construction machine 10 is stored in a storage means (not shown). Such software may be updated for the purpose of fixing defects or adding functions.
  • the construction machine 10 includes a communication controller 11 in order to receive software update information in these slave controllers 14 to 16 from an external server 30 via the mobile communication network 40. Further, the construction machine 10 includes an update master controller 12 as a central control device for controlling the update operation of these software. The update master controller 12 executes the software update operation by selecting the corresponding slave controller according to the software update information received by the communication controller 11.
  • FIG. 3 is a block diagram showing in detail the blocks related to software update among the functional blocks inside the communication controller 11, the update master controller 12, the door 13, and the slave controllers 14, 15 and 16 in FIG. 2.
  • the communication controller 11 includes a communication unit 111 for transmitting and receiving data and instructions necessary for software update to and from the server 30, and a position information unit 112 for holding the position information of the construction machine 10.
  • the communication unit 111 has an external communication function for transmitting / receiving data to / from the server 30 and an internal communication function for transmitting / receiving data to / from the update master controller 12.
  • the communication unit 111 receives the update program sent by the server 30 by the external communication function and transfers it to the update master controller 12 by the internal communication function.
  • the position information unit 112 holds the position information of the construction machine 10 acquired from GPS or the like.
  • the update master controller 12 confirms that the preparation for software update is completed after the reception of data and instructions necessary for software update from the communication controller 11 is completed, and starts updating the slave controllers 14 to 16.
  • a data storage unit 121 an update preparation determination unit 122, a lock determination unit 123, a safety determination unit 124, an availability determination unit 125, an update execution unit 126, and a clock 127 are provided.
  • the door 13 includes a locking device 131 for inserting and rotating the physical key 20 or receiving a control signal to lock the door 13.
  • the locking device 131 includes a switch (not shown) that physically detects the locked state. It is configured to detect that the locking device 131 is in the locked state when this switch is turned on.
  • the door 13 includes a wireless key receiving device (receiver) 132 that receives a wireless signal from the wireless key 21 and outputs a control signal to the locking device 131.
  • the data storage unit 121 is a memory that stores data and instructions required for software update transferred from the communication controller 11.
  • the data and instructions required for software update may include, for example, identification information including a program body newly written to the controller to be updated, version information indicating the type of the program, and identification information of the controller to be updated.
  • the update preparation determination unit 122 determines whether or not the software update is ready for the slave controllers 14 to 16.
  • the update preparation determination unit 122 refers to the data and instructions stored in the data storage unit 121 for software update, and determines whether or not the preparation for the software update operation is completed.
  • the lock determination unit 123 determines whether or not the operator of the construction machine 10 gets off the driver's cab 1111 and the door 13 is locked by the lock device 131.
  • the locking determination unit 123 monitors the state of the locking device 131 or the wireless key receiving unit 132, and determines whether or not the door 13 is locked according to the result.
  • the safety determination unit 124 determines whether or not the construction machine 10 is in a safe place or in a safe state as a condition for starting the software update operation in the construction machine 10 (hereinafter, the installation position of the construction machine 10).
  • the safety of the construction machine and the safety of the state of the construction machine 10 are collectively referred to as "safety").
  • safety In the lock determination unit 123, even when the strength of the wireless signal received from the wireless key 21 in the wireless key receiving unit 132 is equal to or lower than a predetermined level, a person is in the driver's cab 1111 or in the vicinity of the construction machine 10.
  • the availability determination unit 125 determines whether or not the progress of the work is not affected even if the operator's work is interrupted while the software update is being executed (hereinafter, the present invention). "Availability") is determined.
  • the availability determination unit 125 uses the information output by the lock determination unit 123 in order to confirm the availability of the construction machine 10.
  • the update execution unit 126 confirms that the safety and availability conditions for software update are satisfied according to the outputs of the safety determination unit 124 and the availability determination unit 125, and then the slave controllers 14 to 16 corresponding to the software update contents. On the other hand, the process of rewriting a new program is executed.
  • Clock 127 provides the current time.
  • Slave controllers 14 to 16 each have software (SW) execution units 141, 151, and 161 as functional blocks for executing their own software.
  • the SW execution units 141, 151, and 161 execute software in their respective control and processing targets. Further, when the slave controller 12 gives an update instruction, a new program is written while maintaining the existing program, and the written new program is enabled.
  • step S101 the update preparation determination unit 122 determines whether or not the preparation for executing the software update is complete.
  • the update preparation determination unit 122 confirms whether the preparation of the update program stored in the data storage unit 121 is completed.
  • the data storage unit 121 receives the transfer of data and instructions required for software update from the server 30 via the communication unit 111, and stores and manages the data storage unit 121.
  • the update preparation determination unit 122 determines whether the data stored in the data storage unit 121 is in the process of being downloaded or the download is completed.
  • the update preparation determination unit 122 transmits a query for making an inquiry to the data storage unit 121 regarding the state of the data stored in the data storage unit 121.
  • the data storage unit 121 confirms the state of the data stored by itself based on the query, and transmits the response information to the update preparation determination unit 122. If the state of the stored data is in the process of being downloaded, the data storage unit 121 transmits the answer information of "NO" to the update preparation determination unit 122. In this case, the update preparation determination unit 122 waits until the data status becomes the download completion.
  • the data storage unit 121 transmits the answer information of "YES" to the update preparation determination unit 122 when the state of the data stored by itself is the download completion.
  • the update preparation determination unit 122 determines that the update preparation is completed, and transmits information to that effect to the update execution unit 126.
  • step S102 the safety determination unit 124 determines the safety (whether the construction machine 10 is in a safe place or in a safe state), which is a condition for updating the software.
  • the update execution unit 126 requests the safety determination unit 124 to determine the safety of the construction machine 10.
  • the safety determination unit 124 which has been requested to determine the safety, requests the lock determination unit 123 to determine the locked state of the door 13 of the construction machine 10.
  • the operator of the construction machine 10 moves the construction machine 10 to a safe place (for example, a parking apron) after finishing the work on the construction machine 10, puts the construction machine 10 in the parking position, and then turns off the engine. Then, the operator of the construction machine 10 gets off the driver's cab 1111 and then closes the door 13 and inserts the physical key 20 into the keyhole of the locking device 131, or operates the wireless key 21 to lock the wireless key receiving unit 132.
  • a signal (for example, an infrared signal) is transmitted to lock the door 13 of the construction machine 10.
  • the lock determination unit 123 checks the state of the lock device 131 and the state of the wireless key receiving unit 132, and confirms that the door 13 is locked by the lock device 131.
  • the lock determination unit 123 responds to the safety determination unit 124 to that effect.
  • the safety determination unit 124 determines that the construction machine 10 is in a safe state because the door 13 is locked, and transmits the determination result to the update execution unit 126. If the determination result of the safety determination unit 124 is YES, the update execution unit 126 requests the availability determination unit 125 to determine the availability. If the determination result of the safety determination unit 124 is NO, the update execution unit 126 waits until the determination result of the safety determination unit 124 becomes YES.
  • the availability determination unit 125 determines availability, which is a condition for software update (whether or not the progress of the work is not affected even if the operator's work is interrupted while the software update is being executed). To do. Various judgment factors for determining availability can be set. Here, as in the safety determination unit 124, the availability is determined according to the locked state of the door 13. Generally, if the operator of the construction machine 10 does not use the construction machine 10 for a while, the operator moves the construction machine 10 to a safe place and locks the door 13. Therefore, the availability of the construction machine 10 can be determined by confirming the state of the door 13 from the lock determination unit 123.
  • the availability determination unit 125 uses the locked state information output by the lock determination unit 123 in the same manner as the safety determination unit 124, the availability can be determined at the same time as the safety determination performed by the safety determination unit 124. .. If the determination result of the availability determination unit 125 is YES, the update execution unit 126 executes the software update. If the availability determination unit 125 is NO, the update execution unit 126 waits until the determination result of the availability determination unit 125 becomes YES.
  • step S104 the update execution unit 126 updates the program written in one or a plurality of SW execution units 141, 151, or 161 of the slave controllers 14, 15, 16 in the data storage unit 121. Rewrite with a new program related to information (start of update).
  • the update execution unit 126 confirms the data and instructions required for the update stored in the data storage unit 121 after the predetermined safety of the construction machine 10 has been certified and the predetermined availability has been certified. There is at least two pieces of information confirmed by the update execution unit 126. The first is the identification information of the slave controller. The second is the address where the new program in the slave controller is stored.
  • the data storage unit 121 stores the software to be updated at a different address for each different controller type, and manages the address.
  • the update execution unit 126 requests the data storage unit 121 for an address in which a new program related to the controller to be updated is stored. For example, when the controller to be updated is the slave controller 14 for the engine 170, the data storage unit 121 stores the identification information of the slave controller 14 and the update program for the slave controller 14 in the update execution unit 126. Returns the address that is being used. The update execution unit 126 accesses the slave controller 14 based on the identification information of the slave controller 14.
  • the update execution unit 126 notifies the SW execution unit 141 of the slave controller 14 of the size of the new program, and inquires whether the SW execution unit 141 can secure a writable area for writing the new program.
  • the SW execution unit 141 responds to the update execution unit 126 with the address of the area that can be used for writing a new program.
  • the update execution unit 126 specifies the returned address and transfers the new software for the slave controller 14 stored in the data storage unit 121.
  • the update execution unit 126 executes the procedure necessary for software update to the SW execution unit 141.
  • the software is updated and the control of the construction machine 10 is started under the control of the latest software.
  • the door 13 may be unlocked by the operator and the engine may be turned on.
  • step S105 the update execution unit 126 confirms whether or not the door 13 is unlocked according to the determination result of the lock determination unit 123. If it is determined that the door 13 has been unlocked (YES), the process proceeds to step S106. If the door 13 remains locked, the operation proceeds to step S108.
  • step S106 the update execution unit 126 determines whether or not the engine 170 is turned on according to, for example, a feedback signal from the slave controller 14. Instead of the feedback signal from the slave controller 14, it is also possible to provide a rotation sensor of the engine 170 (not shown) and determine ON / OFF of the engine 170 according to the detection signal of the rotation sensor. When it is determined that the engine 170 is ON (YES), the operation proceeds to step S107. When it is determined that the engine 170 is OFF (NO), the operation proceeds to step S108.
  • step S107 the update execution unit 126 interrupts the software update process for the SW execution unit 141, and the SW execution unit 141 executes the old program. That is, in this example, the software update process is interrupted on the condition that the door 13 is unlocked and the engine is turned on.
  • the software update process may be interrupted only by unlocking the door 13 as an interruption condition, or the update process may be interrupted by satisfying other conditions, omitting the confirmation of the engine ON.
  • the update execution unit 126 may restart the software update process for the SW execution unit 141.
  • step S105 If it is determined in step S105 that the door 13 remains locked, the update execution unit 126 confirms in step S108 whether or not the execution of the process required for software update has been completed. If it is determined that the processing required for software update is still ongoing, the operation proceeds to step S105.
  • step S108 When it is determined in step S108 that the processing required for software update is completed (YES), the SW execution unit 141 notifies the update execution unit 126 that the software update is completed, and ends the processing.
  • the update execution unit 126 After receiving the update completion notification from the SW execution unit 141, the update execution unit 126 changes the software update status for the slave controller 14 to "completed" for the data storage unit 121.
  • the data storage unit 121 notifies the server 30 via the communication unit 111 that the software update status of the slave controller 14 has become “completed”.
  • the server 30 changes the state of software update for the slave controller 14 of the construction machine 10 to "completed”.
  • the construction is carried out without the judgment of the operator.
  • the software can be updated after confirming that the machine is in a safe condition and in a safe place and that it does not affect the work of the operator. This prevents the operator from delaying the software update, and the software update of the construction machine can be reliably executed.
  • the schematic configuration of the construction machine 10 of the second embodiment may be the same as that of the first embodiment (FIGS. 1 to 3).
  • the operation at the time of updating the software may be the same as the flowchart of FIG.
  • this second embodiment is different from the first embodiment in that parameters other than door locking are used in the safety determination in step S102 of FIG.
  • the second embodiment in addition to locking the door, it is possible to determine the presence or absence of safety according to the position information of the construction machine.
  • this is just an example, and it goes without saying that other parameters or additional parameters may be used.
  • step S102 of the second embodiment includes steps S201 to S209 shown in FIG. 5 as an example.
  • the safety determination unit 124 acquires the locked state of the door 13 from the lock determination unit 123, and proceeds to step S202.
  • step S202 as in the first embodiment, the safety determination unit 124 determines the safety based on the determination result of the lock determination unit 123.
  • the lock determination unit 123 returns the locked state (YES) of the door 13
  • the process proceeds to step S203.
  • the process proceeds to step S209.
  • step S203 the safety determination unit 124 determines whether or not the construction machine 10 is in a safe place. Specifically, based on the GPS data or the like acquired by the position information unit 112, the latitude / longitude information of the construction machine is acquired as coordinate data, and the position information of the construction machine 10 is held based on this information.
  • the safety determination unit 124 acquires information about an area (hereinafter, referred to as “designated area”) in which the construction machine 10 may execute software update from the data storage unit 121, for example, the construction machine 10. Is rented (rented) from the rental company (rental source) to the client company (rental destination), and it is rented to various construction sites, and there are cases where you do not want to update the software during the rental.
  • the software update can be started when the construction machine 10 is returned from the customer to the rental company, parked in a predetermined designated area, and the door 13 is locked.
  • FIG. 6 shows an example of a data format of a designated area that can be registered in the data storage unit 121.
  • this data format shows the ID of the designated area, the latitude / longitude of the center position of the designated aria, and the radius of the designated area from the center position.
  • the designated area may be designated by a rectangle or other more complicated figure, or other position information may be used instead of the latitude / longitude.
  • an area where software update may be executed is designated as a designated area, and a method of executing software update only when the construction machine 10 is in that area has been described, but the present invention is not limited to this. Absent. For example, a method of specifying an area that should not be updated (update prohibited area) may be adopted. According to this method, for example, the construction site where the construction machine 10 mainly works, the road between the construction site and the tarmac, the area where people frequently pass, and the like, the construction machine 10 software is placed at that position. If you park your car for a long time to update it, it will interfere with other people and other machines. Therefore, such an area can be designated as an update prohibited area instead of the designated area, and can be registered in the storage unit 121 in advance.
  • step S205 the safety determination unit 124 compares the current position information of the construction machine 10 acquired in step S203 with the information of the designated area acquired in step S204. The operation then proceeds to step S206.
  • step S206 the safety determination unit 124 confirms whether or not the current position information of the construction machine 10 is included in the designated area. In other words, it is confirmed whether or not the latitude and longitude representing the current position information of the construction machine 10 are within the designated area. If the current position of the construction machine 10 is within the designated area, the operation shifts to step S208. On the other hand, if the current position of the construction machine 10 is outside the designated area, the operation shifts to step S207.
  • step S207 the safety determination unit 124 determines whether or not the data storage unit 121 has the next designated area to be compared. To confirm. If there is a next designated area, the process proceeds to step S204, and the next designated area is set as the target of comparison (steps S205 and S206). If there is no designated area to be compared next, the process proceeds to step S209.
  • step S208 the safety determination unit 124 determines that the construction machine 10 has no operator, the door 13 is locked, and the step construction machine 10 is in the designated area, according to the judgments of steps S202 to S207. Since it is judged, it is judged that it is safe to execute the software update. Therefore, in S208, the safety determination unit 124 outputs YES to the update execution unit 126 as the safety determination result.
  • step S209 the safety determination unit 124 determines that the construction machine 10 has an operator on board and the door 13 is not locked, or the construction machine 10 is outside the designated area. Therefore, it is judged that there is a safety problem when software update is executed. Therefore, in step S209, NO is output to the update execution unit 126 as a safety determination result.
  • the safety determination it is determined that the construction machine is in the designated area registered in advance as a factor, so that the software update can be executed more safely. it can.
  • FIG. 7 The schematic configuration of the construction machine 10 of the third embodiment may be the same as that of the first embodiment (FIGS. 1 to 3).
  • the operation at the time of updating the software may be the same as the flowchart of FIG.
  • this third embodiment is different from the first embodiment in that parameters other than door locking are used in the determination of availability in step S103 of FIG.
  • step S103 of the third embodiment includes steps S301 to S310 shown in FIG. 7 as an example.
  • the availability determination unit 125 acquires information regarding the locked state of the door 13 of the construction machine 10 from the lock determination unit 123.
  • the operation shifts to step S302.
  • step S302 the lock determination unit 123 determines whether or not the door 13 is locked.
  • the lock determination unit 123 determines that the door 13 is locked (YES)
  • the operation proceeds to step S303.
  • the lock determination unit 123 determines that the door 13 is not locked (NO)
  • the operation proceeds to step S310.
  • step S303 the availability determination unit 125 acquires data related to the current time from the clock 127.
  • step S304 the availability determination unit 125 acquires the time required for updating the software from the data storage unit 121.
  • step S305 the availability determination unit 125 calculates the update period by adding the time required for the update acquired in step S304 to the current time acquired in step S303. For example, if the current time is 12:00 and the time required for renewal is 30 minutes, the renewal period will be 12: 00-12: 30.
  • step S306 the availability determination unit 125 acquires the operation plan information of the construction machine 10 stored in the data storage unit 121.
  • the operation plan information indicates, for example, which construction machine is scheduled to perform what kind of work from what time to what time of the day.
  • FIG. 8 shows an example of the data format of the operation plan information stored in the data storage unit 121.
  • This data format includes, as an example, a work ID, a start time, an operating time, and an operating content.
  • the work ID is identification information for identifying each work process.
  • the start time is the start time at which the construction machine 10 starts operating in the work process.
  • the operating time indicates the length of time that the construction machine 10 operates in the work process.
  • the operation content describes the specific content of the work performed by the construction machine 10 in the work process.
  • step S307 the availability determination unit 125 compares the update period calculated in step S305 with the operation plan acquired in S306.
  • the availability determination unit 125 constructs the construction machine 10 in order to confirm that even if the construction machine 10 is stopped while the construction machine 10 is executing the software update, the progress of the operator's work is not affected. Check the operation plan information of the machine 10.
  • step S305 For example, assume that the software update period calculated in step S305 is 12: 00-12: 30.
  • the availability determination unit 125 confirms whether or not the software update period 12: 00-12: 30 is included in the operation plan information. If the operation plan information indicates that there is work to be executed between 12:00 and 12:30 (time overlap), the operator's work will be performed if the software update is executed. The operation shifts to step S310 in order to affect the progress of. On the other hand, if there is no work to be executed between 12:00 and 12:30, the operation proceeds to step S309 because the execution of the software update does not affect the progress of the operator's work.
  • step S309 the availability determination unit 125 satisfies the predetermined availability as a result of determining in steps S302 to 308 that the door 13 is locked and that the operation plan of the construction machine 10 and the software update time do not overlap. Since it is determined that there is, YES is output as the availability determination result.
  • step S310 when NO is determined in step S302 or YES is determined in step S308, the availability determination unit 125 determines NO as the availability determination result for the update execution unit 126. Output.
  • the operation plan information of the construction machine is also referred to as a factor for determining the availability, the influence on the operator's work can be further reduced. For example, it is possible to prevent the software update from being executed when the operator locks the door 13 to temporarily move away from the construction machine 10 during the continuous work time in the operation plan. ..
  • the above judgment conditions have been described as examples for the safety judgment and the availability judgment, but the present invention is not limited to this.
  • the safety may be determined not only by such position information but also by using the information of an obstacle detection sensor such as an ultrasonic wave or a laser to determine that there is no dangerous object in the surroundings. ..
  • the determination of availability not only the one that refers to the operation plan information but also the one that uses the location information from the location information unit 112, for example, the software is updated only when the aircraft is parked or in the warehouse. Good.
  • the present invention is not limited to the above-described examples, and includes various modifications.
  • the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to those having all the described configurations.
  • it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment and it is also possible to add the configuration of another embodiment to the configuration of one embodiment.

Landscapes

  • Engineering & Computer Science (AREA)
  • General Engineering & Computer Science (AREA)
  • Software Systems (AREA)
  • Theoretical Computer Science (AREA)
  • Mechanical Engineering (AREA)
  • Mining & Mineral Resources (AREA)
  • Civil Engineering (AREA)
  • Structural Engineering (AREA)
  • Computer Security & Cryptography (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Operation Control Of Excavators (AREA)

Abstract

The present invention provides a construction machine capable of executing, with certainty, software updating even while ensuring work efficiency. A construction machine according to the present invention is provided with a vehicle body, a cab having a door and provided to the vehicle body, and a locking device for locking the door, and is further provided with: a communication controller that controls communication with an external server and receives software updating information for controlling the construction machine; and an updating master controller that executes a software updating operation in accordance with the updating information. The updating master controller is configured to determine whether or not the door has been locked by the locking device, and to start the software updating operation when the locking by the locking device has been confirmed.

Description

建設機械Construction machinery
　本発明は、建設機械に係り、より詳しくは遠隔でソフトウェア更新を実行する機能を備えた建設機械に関する。 The present invention relates to a construction machine, and more particularly to a construction machine having a function of remotely executing software update.
　建設機械のソフトウェアを更新するに当たり、建設機械が長時間停車しても問題がない環境にあるか否か、又は、現在作業を中断してもよい状況か否かを確認してからソフトウェアの更新を開始するための技術が、例えば特許文献１により公開されている。特許文献１では、建設機械でソフトウェア更新の準備ができたら、建設機械を操作するオペレータに対し更新確認画面を表示し、ソフトウェア更新の開始をオペレータに報知する。 When updating the software of construction machinery, check whether the environment is such that there is no problem even if the construction machinery is stopped for a long time, or whether it is possible to interrupt the work at present, and then update the software. For example, Patent Document 1 discloses a technique for starting the above. In Patent Document 1, when the construction machine is ready for software update, an update confirmation screen is displayed for the operator who operates the construction machine, and the operator is notified of the start of software update.
　更新確認画面は、建設機械が安全な場所に停車され、従って作業を中断してソフトウェア更新を行ってよいか否かをオペレータに確認するための画面である。ソフトウェアの更新の実行は、更新確認画面においてオペレータの意向を確認した後に開始される。特許文献１には、更新確認画面を表示する際に、オペレータの作業に支障が生じないように、オペレータが作業を続ける場合、更新確認画面を非表示に設定することも開示されている。 The update confirmation screen is a screen for confirming with the operator whether or not the construction machine is stopped in a safe place and therefore the work can be interrupted and the software can be updated. Software update execution starts after confirming the operator's intention on the update confirmation screen. Patent Document 1 also discloses that the update confirmation screen is set to be hidden when the operator continues the work so that the operator's work is not hindered when the update confirmation screen is displayed.
　しかし、特許文献１では、ソフトウェア更新を開始するか否かの判断はオペレータに委ねられる。オペレータが作業等に忙しい場合には、非表示にされた更新確認画面に気づかなかったり、気付いていても無視されたりする可能性がある。この場合、いつまで経っても建設機械のソフトウェア更新が実行されないという事態が生じ得る。建設機械のソフトウェア更新には、建設機械の安全性や基本動作に関わる重要な事項が含まれている。この様な重要なソフトウェア更新が実行されないまま作業が継続されると、建設機械の動作に影響を与える可能性がある。このように、建設機械において、作業の効率性を損なうことを回避しつつも、ソフトウェア更新が確実に実行されることが求められる。 However, in Patent Document 1, it is up to the operator to decide whether or not to start software update. When the operator is busy with work, the hidden update confirmation screen may not be noticed, or even if it is noticed, it may be ignored. In this case, it is possible that the software update of the construction machine will not be executed forever. Software updates for construction machinery include important matters related to the safety and basic operation of construction machinery. If work is continued without such important software updates being performed, it may affect the operation of construction machinery. In this way, in construction machinery, it is required that software updates are surely executed while avoiding impairing work efficiency.
特開２０１７－１４７２２号公報Japanese Unexamined Patent Publication No. 2017-14722
　上記課題を解決するため、本発明は、作業の効率性を確保しつつも、ソフトウェアの更新が確実に実行されることが可能な建設機械を提供することを目的とする。 In order to solve the above problems, it is an object of the present invention to provide a construction machine capable of reliably executing software updates while ensuring work efficiency.
　上記の課題を解決するために、本発明に係る建設機械は、車体と、前記車体に設けられドアを有する運転室と、前記ドアを施錠する施錠装置とを備えた建設機械において、外部のサーバとの間の通信を制御して前記建設機械の制御のためのソフトウェアの更新情報を受信する通信コントローラと、前記更新情報に従い、前記ソフトウェアの更新動作を実行する更新マスタコントローラとを備える。前記更新マスタコントローラは、前記ドアが前記施錠装置により施錠がされたか否かを判定し、前記施錠装置による施錠が確認された場合、前記ソフトウェアの更新動作を開始するよう構成される。 In order to solve the above problems, the construction machine according to the present invention is an external server in a construction machine provided with a vehicle body, a driver's cab provided on the vehicle body and having a door, and a locking device for locking the door. It includes a communication controller that controls communication with and receives update information of software for controlling the construction machine, and an update master controller that executes an update operation of the software according to the update information. The update master controller is configured to determine whether or not the door has been locked by the locking device, and when the locking by the locking device is confirmed, the update operation of the software is started.
　本発明によれば、建設機械のドアが施錠されるタイミングで建設機械のソフトウェアの更新を実行することで、作業の効率性を確保しつつも、ソフトウェアの更新を確実に実行することができる。なお、上記した以外の目的、構成、効果は、以下の実施形態において明らかにされる。 According to the present invention, by updating the software of the construction machine at the timing when the door of the construction machine is locked, it is possible to surely update the software while ensuring work efficiency. The purposes, configurations, and effects other than those described above will be clarified in the following embodiments.
第１の実施形態の建設機械１０の一例としての油圧ショベルの外観構成を説明する外観構成図である。FIG. 5 is an external configuration diagram illustrating an external configuration of a hydraulic excavator as an example of the construction machine 10 of the first embodiment. 第１の実施形態の建設機械１０の制御部の構成を説明するブロック図である。It is a block diagram explaining the structure of the control part of the construction machine 10 of 1st Embodiment. 第１の実施形態の通信コントローラ１１、更新マスタコントローラ１２、ドア１３、及びスレーブコントローラ１４、１５、１６内部の機能ブロックのうち、ソフトウェア更新に関係するブロックを詳細に表したブロック図である。It is a block diagram which showed in detail the block which is related to software update among the functional blocks inside the communication controller 11, the update master controller 12, the door 13, and the slave controllers 14, 15, 16 of the 1st Embodiment. 第１の実施形態の更新マスタコントローラ１２が実行するソフトウェア更新の処理フローについて説明するフローチャートである。It is a flowchart explaining the processing flow of software update executed by the update master controller 12 of 1st Embodiment. 第２の実施形態におけるステップＳ１０２の詳細を説明するフローチャートである。It is a flowchart explaining the detail of step S102 in 2nd Embodiment. 第２の実施形態のデータ記憶部１２１で登録され得る指定エリアのデータフォーマットの一例を示す図面である。It is a drawing which shows an example of the data format of the designated area which can be registered in the data storage part 121 of the 2nd Embodiment. 第３の実施形態におけるステップＳ１０３の詳細を説明するフローチャートである。It is a flowchart explaining the detail of step S103 in 3rd Embodiment. 第３の実施形態データ記憶部１２１に記憶される稼働計画情報のデータフォーマットの一例を示す表である。3 is a table showing an example of a data format of operation plan information stored in the data storage unit 121 of the third embodiment.
　以下、添付図面を参照して本実施形態について説明する。添付図面では、機能的に同じ要素は同じ番号で表示される場合もある。なお、添付図面は本開示の原理に則った実施形態と実装例を示しているが、これらは本開示の理解のためのものであり、決して本開示を限定的に解釈するために用いられるものではない。本明細書の記述は典型的な例示に過ぎず、本開示の特許請求の範囲又は適用例を如何なる意味においても限定するものではない。 Hereinafter, the present embodiment will be described with reference to the attached drawings. In the attached drawings, functionally the same elements may be displayed with the same number. The accompanying drawings show embodiments and implementation examples in accordance with the principles of the present disclosure, but these are for the purpose of understanding the present disclosure and are never used to interpret the present disclosure in a limited manner. is not it. The description of the present specification is merely a typical example, and does not limit the scope of claims or application examples of the present disclosure in any sense.
　本実施形態では、当業者が本開示を実施するのに十分詳細にその説明がなされているが、他の実装・形態も可能で、本開示の技術的思想の範囲と精神を逸脱することなく構成・構造の変更や多様な要素の置き換えが可能であることを理解する必要がある。従って、以降の記述をこれに限定して解釈してはならない。 In this embodiment, the description is given in sufficient detail for those skilled in the art to implement the present disclosure, but other implementations and embodiments are also possible and do not deviate from the scope and spirit of the technical idea of the present disclosure. It is necessary to understand that it is possible to change the structure / structure and replace various elements. Therefore, the following description should not be construed as limited to this.
[第１の実施形態]
　図１は、本発明の第１の実施形態に係る建設機械の外観構成の一例を示しており、図２は、当該建設機械の制御部のブロック図である。 [First Embodiment]
FIG. 1 shows an example of an external configuration of a construction machine according to the first embodiment of the present invention, and FIG. 2 is a block diagram of a control unit of the construction machine.
　図１の外観構造図に示すように、第１の実施形態の建設機械１０は、一例として、油圧ショベルであり、例えば上部旋回体１１１０と、下部走行体１１２０と、作業機１１３０と、旋回機構１１４０と、シリンダ１１６０とを備えている。 As shown in the external structural drawing of FIG. 1, the construction machine 10 of the first embodiment is, for example, a hydraulic excavator, for example, an upper swivel body 1110, a lower traveling body 1120, a working machine 1130, and a swivel mechanism. It includes a 1140 and a cylinder 1160.
　上部旋回体１１１０は、下部走行体１１２０の上部に旋回機構１１４０を介して旋回可能に取り付けられる車体の一部であり、オペレータが運転を行うための運転室１１１１が備えられている。運転室１１１１には運転室１１１１を外部と仕切り開閉可能とされたドア１３が備え付けられている。ドア１３は、物理鍵により施錠可能に構成されている。 The upper swivel body 1110 is a part of a vehicle body that is rotatably attached to the upper part of the lower traveling body 1120 via a swivel mechanism 1140, and is provided with a driver's cab 1111 for the operator to operate. The driver's cab 1111 is provided with a door 13 that partitions the driver's cab 1111 from the outside and can be opened and closed. The door 13 is configured to be lockable by a physical key.
　上部旋回体１１１０は、建設機械１０の高さ方向に平行な回転軸を中心に、下部走行体１１２０に対して旋回する。上部旋回体１１１０は、例えば、エンジン等を含む油圧装置を収容している。下部走行体１１２０は、例えば、図示を省略する油圧モータによって駆動される履帯１１２１を備え、制御装置の制御の下で建設機械１０を走行させる。 The upper swing body 1110 turns with respect to the lower traveling body 1120 around a rotation axis parallel to the height direction of the construction machine 10. The upper swing body 1110 houses, for example, a hydraulic device including an engine and the like. The lower traveling body 1120 includes, for example, a track 1121 driven by a hydraulic motor (not shown), and runs the construction machine 10 under the control of a control device.
　作業機１１３０は、例えば、上部旋回体１１１０の前部に設けられ、シリンダ１１６０によって駆動されて掘削作業などの作業を行う。作業機１１３０は、例えば、ブーム１１３１と、アーム１１３２と、バケット１１３３とを有する。旋回機構１１４０は、図示を省略する油圧モータ又は電動モータを有し、制御装置の制御の下、建設機械１０の高さ方向に平行な回転軸を中心に、上部旋回体１１１０を下部走行体１１２０に対して旋回させる。 The work machine 1130 is provided at the front portion of the upper swing body 1110 and is driven by the cylinder 1160 to perform work such as excavation work. The working machine 1130 has, for example, a boom 1131, an arm 1132, and a bucket 1133. The swivel mechanism 1140 has a hydraulic motor or an electric motor (not shown), and under the control of the control device, the upper swivel body 1110 and the lower traveling body 1120 are centered on a rotation axis parallel to the height direction of the construction machine 10. Turn against.
　図２のブロック図を参照して、第１の実施形態の建設機械１０の制御部の構成を説明する。制御部による制御対象の１つである油圧装置は、エンジン１７０等の原動機と、この原動機によって駆動される少なくとも１つの油圧ポンプ１７１と、油圧ポンプ１７１から吐出された圧油により駆動される複数の油圧アクチュエータと、油圧ポンプ１７１から各油圧アクチュエータへ吐出される圧油の流れをそれぞれ制御する複数のバルブ１７２とを備える。油圧アクチュエータは、例えば前述のブーム１１３１、アーム１１３２、バケット１１３３をそれぞれ駆動するブーム用油圧シリンダ、アーム用油圧シリンダ、及びバケット用油圧シリンダ、下部走行体を走行させる走行用油圧モータ、上部旋回体１１１０を旋回させる旋回用油圧モータ等を含む。 The configuration of the control unit of the construction machine 10 of the first embodiment will be described with reference to the block diagram of FIG. The hydraulic device, which is one of the objects controlled by the control unit, includes a prime mover such as an engine 170, at least one hydraulic pump 171 driven by the prime mover, and a plurality of hydraulic devices driven by the pressure oil discharged from the hydraulic pump 171. It includes a hydraulic actuator and a plurality of valves 172 that control the flow of pressure oil discharged from the hydraulic pump 171 to each hydraulic actuator. The hydraulic actuator includes, for example, a boom hydraulic cylinder for driving the boom 1131, arm 1132, and bucket 1133, a hydraulic cylinder for the arm, a bucket hydraulic cylinder, a traveling hydraulic motor for traveling the lower traveling body, and an upper swing body 1110. Includes a turning hydraulic motor, etc.
　建設機械１０は、各部の動作の制御や処理するための様々なコントローラを備えている。コントローラは、一例として、エンジン１７０の回転等を制御するためのスレーブコントローラ１４と、バルブ１７２の油の流れを制御するためのスレーブコントローラ１５と、オペレータによって操作された操作レバー１７３の操作信号を処理するためのスレーブコントローラ１６とを含み得る。 The construction machine 10 is provided with various controllers for controlling and processing the operation of each part. As an example, the controller processes the operation signal of the slave controller 14 for controlling the rotation of the engine 170, the slave controller 15 for controlling the oil flow of the valve 172, and the operation lever 173 operated by the operator. It may include a slave controller 16 for the operation.
　これらのスレーブコントローラ１４～１６には、建設機械１０の各種構成要素の制御や処理に必要なソフトウェアが、図示しない記憶手段に格納されている。このようなソフトウェアは、不具合の修正や機能の追加等の目的で更新されることがある。 In these slave controllers 14 to 16, software necessary for controlling and processing various components of the construction machine 10 is stored in a storage means (not shown). Such software may be updated for the purpose of fixing defects or adding functions.
　建設機械１０は、これらのスレーブコントローラ１４～１６におけるソフトウェアの更新情報を外部のサーバ３０から移動体通信網４０を介して受信するため、通信コントローラ１１を備えている。また、建設機械１０は、これらのソフトウェアの更新動作を制御する中央制御装置として、更新マスタコントローラ１２を備えている。更新マスタコントローラ１２は、通信コントローラ１１により受信されたソフトウェアの更新情報に従い、ソフトウェアの更新動作を、対応するスレーブコントローラを選択して実行する。 The construction machine 10 includes a communication controller 11 in order to receive software update information in these slave controllers 14 to 16 from an external server 30 via the mobile communication network 40. Further, the construction machine 10 includes an update master controller 12 as a central control device for controlling the update operation of these software. The update master controller 12 executes the software update operation by selecting the corresponding slave controller according to the software update information received by the communication controller 11.
　図３は、図２における通信コントローラ１１、更新マスタコントローラ１２、ドア１３、及びスレーブコントローラ１４、１５、１６内部の機能ブロックのうち、ソフトウェア更新に関係するブロックを詳細に表したブロック図である。 FIG. 3 is a block diagram showing in detail the blocks related to software update among the functional blocks inside the communication controller 11, the update master controller 12, the door 13, and the slave controllers 14, 15 and 16 in FIG. 2.
　通信コントローラ１１は、一例として、サーバ３０との間でソフトウェア更新に必要なデータや指示を送受信する通信部１１１と、建設機械１０の位置情報を保持する位置情報部１１２を含む。通信部１１１は、サーバ３０とデータの送受信を行うための外部通信機能と、更新マスタコントローラ１２とデータの送受信を行うための内部通信機能を備えている。通信部１１１は、外部通信機能によりサーバ３０が送付した更新プログラムを受け取り、内部通信機能で更新マスタコントローラ１２に転送する。位置情報部１１２は、ＧＰＳ等から取得した建設機械１０の位置情報を保持する。 As an example, the communication controller 11 includes a communication unit 111 for transmitting and receiving data and instructions necessary for software update to and from the server 30, and a position information unit 112 for holding the position information of the construction machine 10. The communication unit 111 has an external communication function for transmitting / receiving data to / from the server 30 and an internal communication function for transmitting / receiving data to / from the update master controller 12. The communication unit 111 receives the update program sent by the server 30 by the external communication function and transfers it to the update master controller 12 by the internal communication function. The position information unit 112 holds the position information of the construction machine 10 acquired from GPS or the like.
　更新マスタコントローラ１２は、一例として、通信コントローラ１１からソフトウェア更新に必要なデータや指示の受信が完了した後、ソフトウェア更新の準備が完了したことが確認され、スレーブコントローラ１４～１６に対する更新を開始する機能ブロックとして、データ記憶部１２１、更新準備判定部１２２、施錠判定部１２３、安全性判定部１２４、可用性判定部１２５、更新実行部１２６、及び時計１２７を備えている。
　また、ドア１３は、物理鍵２０を挿入・回転させるか、又は制御信号を受信してドア１３を施錠する施錠装置１３１を備える。施錠装置１３１は、施錠された状態を物理的に検出するスイッチ（図示せず）を内部に備える。このスイッチがＯＮされることにより施錠装置１３１が施錠された状態であることを検出する構成となっている。更にドア１３は、無線鍵２１からの無線信号を受信して、施錠装置１３１に対し制御信号を出力する無線鍵受信装置（レシーバ）１３２を備える。 As an example, the update master controller 12 confirms that the preparation for software update is completed after the reception of data and instructions necessary for software update from the communication controller 11 is completed, and starts updating the slave controllers 14 to 16. As functional blocks, a data storage unit 121, an update preparation determination unit 122, a lock determination unit 123, a safety determination unit 124, an availability determination unit 125, an update execution unit 126, and a clock 127 are provided.
Further, the door 13 includes a locking device 131 for inserting and rotating the physical key 20 or receiving a control signal to lock the door 13. The locking device 131 includes a switch (not shown) that physically detects the locked state. It is configured to detect that the locking device 131 is in the locked state when this switch is turned on. Further, the door 13 includes a wireless key receiving device (receiver) 132 that receives a wireless signal from the wireless key 21 and outputs a control signal to the locking device 131.
　データ記憶部１２１は、通信コントローラ１１から転送されたソフトウェア更新に必要なデータや指示を記憶するメモリである。ソフトウェア更新に必要データや指示は、例えば更新対象のコントローラに新しく書き込むプログラム本体と、そのプログラムの種別を表すバージョン情報などを含む識別情報と、更新対象のコントローラの識別情報とを含み得る。更新準備判定部１２２は、スレーブコントローラ１４～１６に対するソフトウェア更新の準備が整ったか否かを判定する。 The data storage unit 121 is a memory that stores data and instructions required for software update transferred from the communication controller 11. The data and instructions required for software update may include, for example, identification information including a program body newly written to the controller to be updated, version information indicating the type of the program, and identification information of the controller to be updated. The update preparation determination unit 122 determines whether or not the software update is ready for the slave controllers 14 to 16.
　更新準備判定部１２２は、データ記憶部１２１で記憶されたソフトウェア更新に必要なデータと指示を参照し、ソフトウェアの更新動作の準備が完了したか否かを判定する。施錠判定部１２３は、建設機械１０のオペレータが運転室１１１１から降り、ドア１３が施錠装置１３１により施錠されたか否かを判定する。 The update preparation determination unit 122 refers to the data and instructions stored in the data storage unit 121 for software update, and determines whether or not the preparation for the software update operation is completed. The lock determination unit 123 determines whether or not the operator of the construction machine 10 gets off the driver's cab 1111 and the door 13 is locked by the lock device 131.
　施錠判定部１２３は、施錠装置１３１、又は無線鍵受信部１３２の状態を監視して、その結果に従ってドア１３が施錠されているか否かの判定を行う。安全性判定部１２４は、建設機械１０におけるソフトウェア更新動作の開始条件として、建設機械１０が安全な場所にあるか否か、又は安全な状態にあるか否か（以下、建設機械１０の設置位置の安全性、及び建設機械１０の状態の安全性とを総称して「安全性」という）を判定する。なお、施錠判定部１２３は、無線鍵受信部１３２において無線鍵２１から受信される無線信号の強度が所定のレベル以下である場合にも、運転室１１１１の内部又は建設機械１０の周辺に人がいないと判定し、施錠がされているとみなすことができる。すなわち、無線鍵２１を所持したオペレータが建設機械１０から離れると、無線鍵２１から常時又は定期的に発信される無線信号が無線鍵受信部１３２において所定レベル以下となり、やがて受信されなくなる。これにより、オペレータが運転室１１１１の内部又は建設機械１０の周囲にいないことを検知することができる。 The locking determination unit 123 monitors the state of the locking device 131 or the wireless key receiving unit 132, and determines whether or not the door 13 is locked according to the result. The safety determination unit 124 determines whether or not the construction machine 10 is in a safe place or in a safe state as a condition for starting the software update operation in the construction machine 10 (hereinafter, the installation position of the construction machine 10). The safety of the construction machine and the safety of the state of the construction machine 10 are collectively referred to as "safety"). In the lock determination unit 123, even when the strength of the wireless signal received from the wireless key 21 in the wireless key receiving unit 132 is equal to or lower than a predetermined level, a person is in the driver's cab 1111 or in the vicinity of the construction machine 10. It can be determined that it is not locked and it can be considered that it is locked. That is, when the operator possessing the wireless key 21 leaves the construction machine 10, the wireless signal constantly or periodically transmitted from the wireless key 21 falls below a predetermined level in the wireless key receiving unit 132, and is eventually not received. This makes it possible to detect that the operator is not inside the driver's cab 1111 or around the construction machine 10.
　可用性判定部１２５は、建設機械１０におけるソフトウェア更新動作の開始条件として、ソフトウェア更新を実行している間にオペレータの作業が中断しても、作業の進捗に影響を与えないか否か（以下、「可用性」という）を判定する。可用性判定部１２５は、建設機械１０の可用性を確認するために、施錠判定部１２３が出力した情報を利用する。更新実行部１２６は、安全性判定部１２４及び可用性判定部１２５の出力に従い、ソフトウェア更新の条件である安全性と可用性を満たしたことを確認した後、ソフトウェア更新内容に対応するスレーブコントローラ１４～１６に対し、新たなプログラムを書き換える処理を実行する。時計１２７は、現在の時刻を提供する。 As a condition for starting the software update operation in the construction machine 10, the availability determination unit 125 determines whether or not the progress of the work is not affected even if the operator's work is interrupted while the software update is being executed (hereinafter, the present invention). "Availability") is determined. The availability determination unit 125 uses the information output by the lock determination unit 123 in order to confirm the availability of the construction machine 10. The update execution unit 126 confirms that the safety and availability conditions for software update are satisfied according to the outputs of the safety determination unit 124 and the availability determination unit 125, and then the slave controllers 14 to 16 corresponding to the software update contents. On the other hand, the process of rewriting a new program is executed. Clock 127 provides the current time.
　スレーブコントローラ１４～１６は、それぞれ、自身のソフトウェアを実行する機能ブロックとして、ソフトウェア（ＳＷ）実行部１４１、１５１、１６１を有する。ＳＷ実行部１４１、１５１、１６１は、それぞれの制御や処理対象におけるソフトウェアを実行する。また、スレーブコントローラ１２から更新の指示がある際に、既存のプログラムを維持しながら新たなプログラムを書き込み、書き込んだ新たなプログラムを有効にする。 Slave controllers 14 to 16 each have software (SW) execution units 141, 151, and 161 as functional blocks for executing their own software. The SW execution units 141, 151, and 161 execute software in their respective control and processing targets. Further, when the slave controller 12 gives an update instruction, a new program is written while maintaining the existing program, and the written new program is enabled.
　次に、図４のフローチャートを参照して、更新マスタコントローラ１２が実行するソフトウェア更新の処理手順について説明する。 Next, the software update processing procedure executed by the update master controller 12 will be described with reference to the flowchart of FIG.
　まずステップＳ１０１で、更新準備判定部１２２は、ソフトウェア更新を実施するための準備が整ったか否かを判定する。更新準備判定部１２２は、データ記憶部１２１に記憶された更新プログラムの準備が完了しているかを確認する。データ記憶部１２１は、サーバ３０から、ソフトウェア更新に必要なデータや指示の転送を通信部１１１を介して受信し、これを記憶・管理する。更新準備判定部１２２は、データ記憶部１２１に記憶されているデータが、ダウンロード途中であるか、もしくは、ダウンロードが完了しているかを判定する。 First, in step S101, the update preparation determination unit 122 determines whether or not the preparation for executing the software update is complete. The update preparation determination unit 122 confirms whether the preparation of the update program stored in the data storage unit 121 is completed. The data storage unit 121 receives the transfer of data and instructions required for software update from the server 30 via the communication unit 111, and stores and manages the data storage unit 121. The update preparation determination unit 122 determines whether the data stored in the data storage unit 121 is in the process of being downloaded or the download is completed.
　更新準備判定部１２２は、データ記憶部１２１において記憶されているデータの状態について、データ記憶部１２１に対し問い合わせを行うためのクエリを送信する。データ記憶部１２１は、クエリに基づいて、自身が記憶するデータの状態を確認し、更新準備判定部１２２に対し回答情報を送信する。データ記憶部１２１は、記憶されているデータの状態がダウンロード途中ならば、更新準備判定部１２２に対し「ＮＯ」の回答情報を送信する。この場合、更新準備判定部１２２は、データの状態がダウンロード完了になるまで待機する。 The update preparation determination unit 122 transmits a query for making an inquiry to the data storage unit 121 regarding the state of the data stored in the data storage unit 121. The data storage unit 121 confirms the state of the data stored by itself based on the query, and transmits the response information to the update preparation determination unit 122. If the state of the stored data is in the process of being downloaded, the data storage unit 121 transmits the answer information of "NO" to the update preparation determination unit 122. In this case, the update preparation determination unit 122 waits until the data status becomes the download completion.
　一方、データ記憶部１２１は、自身が記憶するデータの状態がダウンロード完了である場合、更新準備判定部１２２に対し「ＹＥＳ」の回答情報を送信する。更新準備判定部１２２は、更新準備が完了していると判定し、その旨の情報を更新実行部１２６に送信する。 On the other hand, the data storage unit 121 transmits the answer information of "YES" to the update preparation determination unit 122 when the state of the data stored by itself is the download completion. The update preparation determination unit 122 determines that the update preparation is completed, and transmits information to that effect to the update execution unit 126.
　ステップＳ１０２では、安全性判定部１２４は、ソフトウェア更新の条件である安全性（建設機械１０が安全な場所にあるか、又は安全な状態であるか）を判定する。更新実行部１２６は、更新準備判定部１２２から更新の準備が整ったという通知を受け取った後に、安全性判定部１２４に対し、建設機械１０の安全性を判定するように要求する。安全性の判定を要求された安全性判定部１２４は、施錠判定部１２３に対し、建設機械１０のドア１３の施錠状態の判定を要求する。 In step S102, the safety determination unit 124 determines the safety (whether the construction machine 10 is in a safe place or in a safe state), which is a condition for updating the software. After receiving the notification from the update preparation determination unit 122 that the update is ready, the update execution unit 126 requests the safety determination unit 124 to determine the safety of the construction machine 10. The safety determination unit 124, which has been requested to determine the safety, requests the lock determination unit 123 to determine the locked state of the door 13 of the construction machine 10.
　一般に、建設機械１０のオペレータは、建設機械１０における作業を終えた後、建設機械１０を安全な場所（例えば駐機場）に移動させ、建設機械１０を駐機姿勢にし、その後エンジンを切る。そして、建設機械１０のオペレータは、運転室１１１１から降り、その後ドア１３を閉めて物理鍵２０を施錠装置１３１の鍵穴に差し込み、もしくは、無線鍵２１を操作して無線鍵受信部１３２に対し施錠信号（例えば赤外線信号）を送信し、建設機械１０のドア１３を施錠する。施錠判定部１２３は、施錠装置１３１の状態や無線鍵受信部１３２の状態をチェックし、ドア１３が施錠装置１３１により施錠されていることを確認する。 Generally, the operator of the construction machine 10 moves the construction machine 10 to a safe place (for example, a parking apron) after finishing the work on the construction machine 10, puts the construction machine 10 in the parking position, and then turns off the engine. Then, the operator of the construction machine 10 gets off the driver's cab 1111 and then closes the door 13 and inserts the physical key 20 into the keyhole of the locking device 131, or operates the wireless key 21 to lock the wireless key receiving unit 132. A signal (for example, an infrared signal) is transmitted to lock the door 13 of the construction machine 10. The lock determination unit 123 checks the state of the lock device 131 and the state of the wireless key receiving unit 132, and confirms that the door 13 is locked by the lock device 131.
　施錠判定部１２３は、ドア１３が施錠装置１３１により施錠されている場合、その旨を安全性判定部１２４に対し回答する。安全性判定部１２４は、ドア１３が施錠されていることから建設機械１０は安全な状態にあると判定し、判定結果を更新実行部１２６に送信する。更新実行部１２６は、安全性判定部１２４の判定結果がＹＥＳであれば、可用性判定部１２５に対し、可用性を判定するように要求する。安全性判定部１２４の判定結果がＮＯの場合は、更新実行部１２６は安全性判定部１２４の判定結果がＹＥＳになるまで待機する。 When the door 13 is locked by the locking device 131, the lock determination unit 123 responds to the safety determination unit 124 to that effect. The safety determination unit 124 determines that the construction machine 10 is in a safe state because the door 13 is locked, and transmits the determination result to the update execution unit 126. If the determination result of the safety determination unit 124 is YES, the update execution unit 126 requests the availability determination unit 125 to determine the availability. If the determination result of the safety determination unit 124 is NO, the update execution unit 126 waits until the determination result of the safety determination unit 124 becomes YES.
　ステップＳ１０３では、可用性判定部１２５が、ソフトウェア更新の条件である可用性（ソフトウェア更新を実行している間にオペレータの作業が中断しても、作業の進捗に影響を与えないか否か）を判定する。可用性の判定の判断要素は、様々に設定することが可能である。ここでは、安全性判定部１２４と同様に、ドア１３の施錠の状態に従い、可用性の判断を行うものとする。一般に、建設機械１０のオペレータが暫くの間建設機械１０を使用しない場合、オペレータは建設機械１０を安全な場所に移動させ、ドア１３を施錠する。そのため、施錠判定部１２３からドア１３の状態を確認することで、建設機械１０の可用性を判定することができる。 In step S103, the availability determination unit 125 determines availability, which is a condition for software update (whether or not the progress of the work is not affected even if the operator's work is interrupted while the software update is being executed). To do. Various judgment factors for determining availability can be set. Here, as in the safety determination unit 124, the availability is determined according to the locked state of the door 13. Generally, if the operator of the construction machine 10 does not use the construction machine 10 for a while, the operator moves the construction machine 10 to a safe place and locks the door 13. Therefore, the availability of the construction machine 10 can be determined by confirming the state of the door 13 from the lock determination unit 123.
　可用性判定部１２５が、安全性判定部１２４と同様に施錠判定部１２３が出力した施錠状態の情報を使う場合、安全性判定部１２４が行った安全性の判定と同時に可用性を判定することもできる。更新実行部１２６は、可用性判定部１２５の判定結果がＹＥＳであれば、ソフトウェア更新を実行する。可用性判定部１２５がＮＯの場合は、更新実行部１２６は可用性判定部１２５の判定結果がＹＥＳになるまで待機する。 When the availability determination unit 125 uses the locked state information output by the lock determination unit 123 in the same manner as the safety determination unit 124, the availability can be determined at the same time as the safety determination performed by the safety determination unit 124. .. If the determination result of the availability determination unit 125 is YES, the update execution unit 126 executes the software update. If the availability determination unit 125 is NO, the update execution unit 126 waits until the determination result of the availability determination unit 125 becomes YES.
　ステップＳ１０４では、更新実行部１２６が、スレーブコントローラ１４、１５、１６のうちの一つ又は複数のＳＷ実行部１４１、１５１又は１６１に書き込まれているプログラムを、データ記憶部１２１に記憶された更新情報に係る新しいプログラムに書き換える（更新の開始）。更新実行部１２６は、建設機械１０に関し所定の安全性が認定され、且つ所定の可用性が認定された後に、データ記憶部１２１で記憶されている更新に必要なデータと指示を確認する。更新実行部１２６が確認する情報は少なくとも２つある。一つ目は、スレーブコントローラの識別情報である。二つ目は、そのスレーブコントローラにおける新しいプログラムが格納されているアドレスである。 In step S104, the update execution unit 126 updates the program written in one or a plurality of SW execution units 141, 151, or 161 of the slave controllers 14, 15, 16 in the data storage unit 121. Rewrite with a new program related to information (start of update). The update execution unit 126 confirms the data and instructions required for the update stored in the data storage unit 121 after the predetermined safety of the construction machine 10 has been certified and the predetermined availability has been certified. There is at least two pieces of information confirmed by the update execution unit 126. The first is the identification information of the slave controller. The second is the address where the new program in the slave controller is stored.
　ソフトウェアを更新すべき更新対象のコントローラが複数ある場合、データ記憶部１２１は、更新対象のソフトウェアを、異なるコントローラの種類毎に異なるアドレスに格納すると共に、そのアドレスを管理する。 When there are a plurality of controllers to be updated to be updated, the data storage unit 121 stores the software to be updated at a different address for each different controller type, and manages the address.
　更新実行部１２６は、データ記憶部１２１に対し、更新対象のコントローラに関する新しいプログラムが格納されているアドレスを要求する。例えば、更新対象のコントローラがエンジン１７０用のスレーブコントローラ１４である場合、データ記憶部１２１は、更新実行部１２６に対し、スレーブコントローラ１４の識別情報と、スレーブコントローラ１４のための更新プログラムが格納されているアドレスを返す。更新実行部１２６は、スレーブコントローラ１４の識別情報に基づいて、スレーブコントローラ１４にアクセスする。 The update execution unit 126 requests the data storage unit 121 for an address in which a new program related to the controller to be updated is stored. For example, when the controller to be updated is the slave controller 14 for the engine 170, the data storage unit 121 stores the identification information of the slave controller 14 and the update program for the slave controller 14 in the update execution unit 126. Returns the address that is being used. The update execution unit 126 accesses the slave controller 14 based on the identification information of the slave controller 14.
　そして更新実行部１２６は、スレーブコントローラ１４のＳＷ実行部１４１に対し、新しいプログラムのサイズを通知し、ＳＷ実行部１４１において、新しいプログラムを書き込むための書込み可能領域が確保できるか否かを問い合わせる。ＳＷ実行部１４１は、新しいプログラムの書き込みに用いることができる領域のアドレスを更新実行部１２６に回答する。アドレスを受信した更新実行部１２６は、回答されたアドレスを指定して、データ記憶部１２１に格納されたスレーブコントローラ１４向けの新しいソフトウェアを転送する。新しいプログラムの転送が完了した場合、更新実行部１２６は、ＳＷ実行部１４１に対し、ソフトウェア更新に必要な手続きを実行する。 Then, the update execution unit 126 notifies the SW execution unit 141 of the slave controller 14 of the size of the new program, and inquires whether the SW execution unit 141 can secure a writable area for writing the new program. The SW execution unit 141 responds to the update execution unit 126 with the address of the area that can be used for writing a new program. Upon receiving the address, the update execution unit 126 specifies the returned address and transfers the new software for the slave controller 14 stored in the data storage unit 121. When the transfer of the new program is completed, the update execution unit 126 executes the procedure necessary for software update to the SW execution unit 141.
　こうして新しいソフトウェアの更新が開始されると、所定時間の経過後、ソフトウェアは更新され、最新のソフトウェアの制御下で建設機械１０の制御が開始される。しかし、ソフトウェアの更新の開始後（ステップＳ１０４）、その更新の完了前において、オペレータによってドア１３の鍵が開けられ、更にエンジンがＯＮとされる場合がある。 When the update of the new software is started in this way, after the lapse of a predetermined time, the software is updated and the control of the construction machine 10 is started under the control of the latest software. However, after the start of the software update (step S104) and before the completion of the update, the door 13 may be unlocked by the operator and the engine may be turned on.
　この場合、第１の実施の形態では、ステップＳ１０５において、更新実行部１２６が施錠判定部１２３の判定結果に従い、ドア１３が解錠されているか否かを確認する。ドア１３が解錠されたと判定された場合（ＹＥＳ）、ステップＳ１０６に移行する。ドア１３が施錠されたままであれば、動作はステップＳ１０８に移行する。 In this case, in the first embodiment, in step S105, the update execution unit 126 confirms whether or not the door 13 is unlocked according to the determination result of the lock determination unit 123. If it is determined that the door 13 has been unlocked (YES), the process proceeds to step S106. If the door 13 remains locked, the operation proceeds to step S108.
　ステップＳ１０６では、更新実行部１２６は、エンジン１７０がＯＮとされたか否かを、例えばスレーブコントローラ１４からのフィードバック信号に従って判定する。スレーブコントローラ１４からのフィードバック信号に代えて、図示しないエンジン１７０の回転センサを設け、この回転センサの検出信号に従い、エンジン１７０のＯＮ／ＯＦＦを判定することも可能である。エンジン１７０がＯＮであると判定された場合（ＹＥＳ）、動作はステップＳ１０７に移行する。エンジン１７０がＯＦＦであると判定された場合（ＮＯ）、動作はステップＳ１０８に移行する。 In step S106, the update execution unit 126 determines whether or not the engine 170 is turned on according to, for example, a feedback signal from the slave controller 14. Instead of the feedback signal from the slave controller 14, it is also possible to provide a rotation sensor of the engine 170 (not shown) and determine ON / OFF of the engine 170 according to the detection signal of the rotation sensor. When it is determined that the engine 170 is ON (YES), the operation proceeds to step S107. When it is determined that the engine 170 is OFF (NO), the operation proceeds to step S108.
　ステップＳ１０７では、更新実行部１２６は、ＳＷ実行部１４１に対するソフトウェア更新の処理を中断し、ＳＷ実行部１４１では旧プログラムが実行される。すなわち、この例では、ドア１３の解錠と、エンジンのＯＮとが行われたことを中断条件として、ソフトウェアの更新処理を中断する。エンジンのＯＮの確認を省略して、ドア１３の解錠のみを中断条件としてソフトウェア更新処理を中断してもよいし、その他の条件の具備を中断として更新処理を中断することも可能である。なお、ドア１３が再度施錠された場合には、更新実行部１２６は、ＳＷ実行部１４１に対するソフトウェア更新の処理を再開してもよい。 In step S107, the update execution unit 126 interrupts the software update process for the SW execution unit 141, and the SW execution unit 141 executes the old program. That is, in this example, the software update process is interrupted on the condition that the door 13 is unlocked and the engine is turned on. The software update process may be interrupted only by unlocking the door 13 as an interruption condition, or the update process may be interrupted by satisfying other conditions, omitting the confirmation of the engine ON. When the door 13 is locked again, the update execution unit 126 may restart the software update process for the SW execution unit 141.
　ステップＳ１０５でドア１３が施錠されたままであると判定された場合には、ステップＳ１０８において、更新実行部１２６は、ソフトウェア更新に必要な処理の実行が完了したか否かを確認する。ソフトウェア更新に必要な処理が未だ継続中であると判定される場合は、動作はステップＳ１０５に移行する。 If it is determined in step S105 that the door 13 remains locked, the update execution unit 126 confirms in step S108 whether or not the execution of the process required for software update has been completed. If it is determined that the processing required for software update is still ongoing, the operation proceeds to step S105.
　ソフトウェア更新に必要な処理が終了したとステップＳ１０８において判定された場合（ＹＥＳ）、ＳＷ実行部１４１は、更新実行部１２６に対しソフトウェア更新が完了したことを通知し、処理を終了する。更新実行部１２６は、ＳＷ実行部１４１から更新完了通知を受け取った後、データ記憶部１２１に対し、スレーブコントローラ１４に対するソフトウェア更新の状態を「完了」に変更する。データ記憶部１２１は、スレーブコントローラ１４のソフトウェア更新の状態が「完了」になったことを、通信部１１１を経由して、サーバ３０に通知する。サーバ３０は、建設機械１０のスレーブコントローラ１４に対するソフトウェア更新の状態を「完了」と変更する。 When it is determined in step S108 that the processing required for software update is completed (YES), the SW execution unit 141 notifies the update execution unit 126 that the software update is completed, and ends the processing. After receiving the update completion notification from the SW execution unit 141, the update execution unit 126 changes the software update status for the slave controller 14 to "completed" for the data storage unit 121. The data storage unit 121 notifies the server 30 via the communication unit 111 that the software update status of the slave controller 14 has become "completed". The server 30 changes the state of software update for the slave controller 14 of the construction machine 10 to "completed".
　以上説明したように、第１の実施形態によれば、建設機械１０のドア１３が施錠されたか否かの判定に従い建設機械１０のソフトウェアの更新を開始することで、オペレータの判断によらず建設機械が安全な状態、かつ、安全な場所にあることと、オペレータの作業に影響を与えないこととを確認し、ソフトウェアを更新することができる。これにより、オペレータによるソフトウェア更新の先延ばしが防止され、建設機械のソフトウェア更新を確実に実行することができる。 As described above, according to the first embodiment, by starting the update of the software of the construction machine 10 according to the determination of whether or not the door 13 of the construction machine 10 is locked, the construction is carried out without the judgment of the operator. The software can be updated after confirming that the machine is in a safe condition and in a safe place and that it does not affect the work of the operator. This prevents the operator from delaying the software update, and the software update of the construction machine can be reliably executed.
　なお、本実施形態においては、安全性の判定と可用性の判定として、それぞれ別々にドア施錠の確認を行う場合を説明したが、これら２つをまとめて一回のドア施錠の確認をもって両者を判定するようにしてもよい。 In the present embodiment, the case where the door lock is confirmed separately for the safety determination and the availability determination has been described, but both are determined by collectively confirming the door lock. You may try to do it.
[第２の実施形態]
　次に、本発明の第２の実施形態に係る建設機械１０を、図５を参照して説明する。この第２の実施の形態の建設機械１０の概略の構成は、第１の実施の形態（図１～図３）と同様であってよい。ソフトウェアの更新時における動作も、図４のフローチャートと同一であってよい。ただし、この第２の実施形態は、図４のステップＳ１０２の安全性の判定において、ドア施錠以外のパラメータを使用する点で、第１の実施の形態と異なっている。具体的に第２の実施の形態では、ドア施錠以外に、建設機械の位置情報に従い、安全性の有無を判定するようにすることができる。ただし、これは一例であり、これ以外のパラメータや追加のパラメータを用いても良いことは言うまでもない。 [Second Embodiment]
Next, the construction machine 10 according to the second embodiment of the present invention will be described with reference to FIG. The schematic configuration of the construction machine 10 of the second embodiment may be the same as that of the first embodiment (FIGS. 1 to 3). The operation at the time of updating the software may be the same as the flowchart of FIG. However, this second embodiment is different from the first embodiment in that parameters other than door locking are used in the safety determination in step S102 of FIG. Specifically, in the second embodiment, in addition to locking the door, it is possible to determine the presence or absence of safety according to the position information of the construction machine. However, this is just an example, and it goes without saying that other parameters or additional parameters may be used.
　図５を参照して、第２の実施形態におけるステップＳ１０２の詳細の一例を以下に示す。すなわち、第２の実施の形態のステップＳ１０２は、図５に示すステップＳ２０１～Ｓ２０９を一例として含む。ステップＳ２０１において、安全性判定部１２４は、施錠判定部１２３からドア１３の施錠状態を取得し、ステップＳ２０２に移行する。 With reference to FIG. 5, an example of details of step S102 in the second embodiment is shown below. That is, step S102 of the second embodiment includes steps S201 to S209 shown in FIG. 5 as an example. In step S201, the safety determination unit 124 acquires the locked state of the door 13 from the lock determination unit 123, and proceeds to step S202.
　ステップＳ２０２では、第１の実施形態と同様に、安全性判定部１２４は、施錠判定部１２３の判定結果をもとに安全性を判定する。施錠判定部１２３は、ドア１３が施錠されている状態（ＹＥＳ）を返す場合、ステップＳ２０３に移行する。ドア１３が施錠されていない状態を返す場合（ＮＯ）、ステップＳ２０９に移行する。 In step S202, as in the first embodiment, the safety determination unit 124 determines the safety based on the determination result of the lock determination unit 123. When the lock determination unit 123 returns the locked state (YES) of the door 13, the process proceeds to step S203. When returning the unlocked state of the door 13 (NO), the process proceeds to step S209.
　ステップＳ２０３において、安全性判定部１２４は、建設機械１０が安全な場所にあるか否かを判定する。具体的には、位置情報部１１２で取得したＧＰＳデータ等に基づき、建設機械の緯度・経度の情報を座標データとして取得し、この情報に基づいて建設機械１０の位置情報を保持する。 In step S203, the safety determination unit 124 determines whether or not the construction machine 10 is in a safe place. Specifically, based on the GPS data or the like acquired by the position information unit 112, the latitude / longitude information of the construction machine is acquired as coordinate data, and the position information of the construction machine 10 is held based on this information.
　続くステップＳ２０４では、安全性判定部１２４が、建設機械１０がソフトウェア更新を実行しても良いエリア（以下、「指定エリア）という）に関する情報をデータ記憶部１２１から取得する。例えば、建設機械１０がレンタル会社（レンタル元）から顧客企業（レンタル先）に貸し出されている（レンタルされている）ものであり、様々な建設現場に貸し出され、貸し出し中にソフトウェア更新を実施したくない場合がある。この場合、建設機械１０が顧客からレンタル会社に返却され、所定の指定エリアに駐機され、さらにドア１３に施錠が掛かった状態において、ソフトウェアの更新を開始させることができる。 In the following step S204, the safety determination unit 124 acquires information about an area (hereinafter, referred to as “designated area”) in which the construction machine 10 may execute software update from the data storage unit 121, for example, the construction machine 10. Is rented (rented) from the rental company (rental source) to the client company (rental destination), and it is rented to various construction sites, and there are cases where you do not want to update the software during the rental. In this case, the software update can be started when the construction machine 10 is returned from the customer to the rental company, parked in a predetermined designated area, and the door 13 is locked.
　建設機械１０におけるソフトウェア更新をレンタル会社の倉庫のみで実施したい場合は、建設機械１０のデータ記憶部１２１に事前に、当該レンタル会社の倉庫の位置情報を登録することができる。図６に、データ記憶部１２１で登録され得る指定エリアのデータフォーマットの一例を示す。このデータフォーマットは、一例として、指定エリアのＩＤ、指定アリアの中心位置の緯度・経度、及び指定エリアの当該中心位置からの半径を示している。これは一例であり、指定エリアは矩形やその他のより複雑な図形により指定してもよいし、緯度・経度に代えて他の位置情報を用いても良い。 If it is desired to update the software in the construction machine 10 only in the warehouse of the rental company, the location information of the warehouse of the rental company can be registered in advance in the data storage unit 121 of the construction machine 10. FIG. 6 shows an example of a data format of a designated area that can be registered in the data storage unit 121. As an example, this data format shows the ID of the designated area, the latitude / longitude of the center position of the designated aria, and the radius of the designated area from the center position. This is an example, and the designated area may be designated by a rectangle or other more complicated figure, or other position information may be used instead of the latitude / longitude.
　なお、本実施形態では、ソフトウェア更新を実行しても良いエリアを指定エリアとして指定し、建設機械１０がそのエリアにある場合のみソフトウェア更新を実行する方法を説明したが、これに限定するものではない。例えば、更新してはいけないエリア（更新禁止エリア）を指定する方法を採用しても良い。この方法によれば、例えば、建設機械１０が主に作業を行う建設現場や、建設現場と駐機場との間の道路、人が頻繁に通過する領域などは、その位置に建設機械１０がソフトウェア更新のために長時間駐機してしまうと、他の人や他の機械の邪魔となる。このため、このようなエリアを、指定エリアではなく、更新禁止エリアとして指定し、事前に記憶部１２１に登録することができる。 In the present embodiment, an area where software update may be executed is designated as a designated area, and a method of executing software update only when the construction machine 10 is in that area has been described, but the present invention is not limited to this. Absent. For example, a method of specifying an area that should not be updated (update prohibited area) may be adopted. According to this method, for example, the construction site where the construction machine 10 mainly works, the road between the construction site and the tarmac, the area where people frequently pass, and the like, the construction machine 10 software is placed at that position. If you park your car for a long time to update it, it will interfere with other people and other machines. Therefore, such an area can be designated as an update prohibited area instead of the designated area, and can be registered in the storage unit 121 in advance.
　図５に戻って説明を続ける。ステップＳ２０５では、安全性判定部１２４は、ステップＳ２０３で取得した建設機械１０の現在の位置情報と、ステップＳ２０４で取得した指定エリアの情報を比較する。動作は次にステップＳ２０６に移行する。 Return to Fig. 5 and continue the explanation. In step S205, the safety determination unit 124 compares the current position information of the construction machine 10 acquired in step S203 with the information of the designated area acquired in step S204. The operation then proceeds to step S206.
　ステップＳ２０６において、安全性判定部１２４は、建設機械１０の現在の位置情報は指定エリアの中に含まれるか否かを確認する。換言すれば、現在の建設機械１０の位置情報を表す緯度と経度が、指定エリアの圏内にあるか否かを確認する。現在の建設機械１０の位置が指定エリア内であれば、動作はステップＳ２０８に移行する。一方、現在の建設機械１０の位置が指定エリア外であれば、動作はステップＳ２０７に移行する。 In step S206, the safety determination unit 124 confirms whether or not the current position information of the construction machine 10 is included in the designated area. In other words, it is confirmed whether or not the latitude and longitude representing the current position information of the construction machine 10 are within the designated area. If the current position of the construction machine 10 is within the designated area, the operation shifts to step S208. On the other hand, if the current position of the construction machine 10 is outside the designated area, the operation shifts to step S207.
　建設機械１０の位置が一の指定エリアの外であると判定された場合、続くステップＳ２０７では、安全性判定部１２４が、データ記憶部１２１に、比較すべき次の指定エリアがあるか否かを確認する。次の指定エリアがあれば、ステップＳ２０４に移行し、当該次の指定エリアが比較の対象とさされる（ステップＳ２０５、Ｓ２０６）。次に比較する指定エリアがなければ、ステップＳ２０９に移行する。 If it is determined that the position of the construction machine 10 is outside one designated area, in the following step S207, the safety determination unit 124 determines whether or not the data storage unit 121 has the next designated area to be compared. To confirm. If there is a next designated area, the process proceeds to step S204, and the next designated area is set as the target of comparison (steps S205 and S206). If there is no designated area to be compared next, the process proceeds to step S209.
　ステップＳ２０８では、安全性判定部１２４は、ステップＳ２０２～Ｓ２０７の判断により、建設機械１０にはオペレータは乗っておらず、ドア１３は施錠されており、ステップ建設機械１０は指定エリア内にあると判断されるので、ソフトウェア更新を実行しても安全であると判断される。従って、Ｓ２０８において、安全性判定部１２４は、更新実行部１２６に対し、安全性の判定結果としてＹＥＳを出力する。 In step S208, the safety determination unit 124 determines that the construction machine 10 has no operator, the door 13 is locked, and the step construction machine 10 is in the designated area, according to the judgments of steps S202 to S207. Since it is judged, it is judged that it is safe to execute the software update. Therefore, in S208, the safety determination unit 124 outputs YES to the update execution unit 126 as the safety determination result.
　一方、ステップＳ２０９では、安全性判定部１２４は、ステップＳ２０２～Ｓ２０７の判断により、建設機械１０にはオペレータは乗っていてドア１３が施錠されていないか、又は建設機械１０は指定エリア外にあると判断されるので、ソフトウェア更新を実行すると安全性に問題があると判断する。従って、ステップＳ２０９では、更新実行部１２６に安全性の判定結果としてＮＯを出力する。 On the other hand, in step S209, the safety determination unit 124 determines that the construction machine 10 has an operator on board and the door 13 is not locked, or the construction machine 10 is outside the designated area. Therefore, it is judged that there is a safety problem when software update is executed. Therefore, in step S209, NO is output to the update execution unit 126 as a safety determination result.
　この第２の実施の形態によれば、安全性の判定において、建設機械が予め登録された指定エリア内にあることもファクターに含めて判定を行うため、より安全にソフトウェア更新を実行することができる。 According to this second embodiment, in the safety determination, it is determined that the construction machine is in the designated area registered in advance as a factor, so that the software update can be executed more safely. it can.
［第３の実施の形態］
　次に、本発明の第３の実施形態に係る建設機械１０を、図７を参照して説明する。この第３の実施の形態の建設機械１０の概略の構成は、第１の実施の形態（図１～図３）と同様であってよい。ソフトウェアの更新時における動作も、図４のフローチャートと同一であってよい。ただし、この第３の実施形態は、図４のステップＳ１０３の可用性の判定において、ドア施錠以外のパラメータを使用する点で、第１の実施の形態と異なっている。 [Third Embodiment]
Next, the construction machine 10 according to the third embodiment of the present invention will be described with reference to FIG. 7. The schematic configuration of the construction machine 10 of the third embodiment may be the same as that of the first embodiment (FIGS. 1 to 3). The operation at the time of updating the software may be the same as the flowchart of FIG. However, this third embodiment is different from the first embodiment in that parameters other than door locking are used in the determination of availability in step S103 of FIG.
　次に、図７のフローチャートを参照して、建設機械１０におけるソフトウェアを更新する際に行う可用性を判定する処理（ステップＳ１０３）の詳細について説明する。すなわち、第３の実施の形態のステップＳ１０３は、図７に示すステップＳ３０１～Ｓ３１０を一例として含む。まず、ステップＳ３０１において、可用性判定部１２５は、施錠判定部１２３から建設機械１０のドア１３の施錠状態に関する情報を取得する。次に、動作はステップＳ３０２に移行する。 Next, with reference to the flowchart of FIG. 7, the details of the process for determining the availability (step S103) performed when updating the software in the construction machine 10 will be described. That is, step S103 of the third embodiment includes steps S301 to S310 shown in FIG. 7 as an example. First, in step S301, the availability determination unit 125 acquires information regarding the locked state of the door 13 of the construction machine 10 from the lock determination unit 123. Next, the operation shifts to step S302.
　ステップＳ３０２では、施錠判定部１２３がドア１３が施錠されているか否かを判定する。施錠判定部１２３がドア１３が施錠されていると判定する場合（ＹＥＳ）、動作はステップＳ３０３に移行する。一方、施錠判定部１２３がドア１３が施錠されていないと判定する場合（ＮＯ）、動作はステップＳ３１０へ移行する。 In step S302, the lock determination unit 123 determines whether or not the door 13 is locked. When the lock determination unit 123 determines that the door 13 is locked (YES), the operation proceeds to step S303. On the other hand, when the lock determination unit 123 determines that the door 13 is not locked (NO), the operation proceeds to step S310.
　ステップＳ３０３では、可用性判定部１２５は、時計１２７から現在の時刻に関するデータを取得する。続くステップＳ３０４では、可用性判定部１２５は、データ記憶部１２１から、ソフトウェアの更新に必要な時間を取得する。 In step S303, the availability determination unit 125 acquires data related to the current time from the clock 127. In the following step S304, the availability determination unit 125 acquires the time required for updating the software from the data storage unit 121.
　ステップＳ３０５では、可用性判定部１２５は、ステップＳ３０３で取得した現在の時刻に、ステップＳ３０４で取得した更新に必要な時間を加算して更新期間を計算する。例えば、現在の時刻が１２：００で、更新に必要な時間が３０分であれば、更新期間は１２：００－１２：３０となる。 In step S305, the availability determination unit 125 calculates the update period by adding the time required for the update acquired in step S304 to the current time acquired in step S303. For example, if the current time is 12:00 and the time required for renewal is 30 minutes, the renewal period will be 12: 00-12: 30.
　ステップＳ３０６では、可用性判定部１２５は、データ記憶部１２１に記憶されている、建設機械１０の稼働計画情報を取得する。一般に、建設現場では建設工程を管理するために、稼働する建設機械の日々の稼働計画情報を用意している。稼働計画情報は、例えば、その日の何時から何時までの間にどの建設機械がどのような作業をする予定かを示す。 In step S306, the availability determination unit 125 acquires the operation plan information of the construction machine 10 stored in the data storage unit 121. Generally, at a construction site, daily operation plan information of operating construction machinery is prepared in order to manage the construction process. The operation plan information indicates, for example, which construction machine is scheduled to perform what kind of work from what time to what time of the day.
　オペレータによって建設機械１０が起動された所定のタイミングで、通信コントローラ１１は、サーバ３０から移動体通信網４０を介して稼働計画情報を取得し、データ記憶部１２１に登録する。図８は、データ記憶部１２１に記憶される稼働計画情報のデータフォーマットの一例を示す。このデータフォーマットは、一例として、作業ＩＤ、開始時刻、稼働時間、及び稼働内容を含む。作業ＩＤは、各作業工程を識別するための識別情報である。開始時刻は、その作業工程において建設機械１０が稼働を開始する開始時刻である。稼働時間は、その作業工程において建設機械１０が稼働する時間の長さを示す。稼働内容は、その作業工程において建設機械１０が行う具体的な作業の内容が記載されている。 At a predetermined timing when the construction machine 10 is started by the operator, the communication controller 11 acquires the operation plan information from the server 30 via the mobile communication network 40 and registers it in the data storage unit 121. FIG. 8 shows an example of the data format of the operation plan information stored in the data storage unit 121. This data format includes, as an example, a work ID, a start time, an operating time, and an operating content. The work ID is identification information for identifying each work process. The start time is the start time at which the construction machine 10 starts operating in the work process. The operating time indicates the length of time that the construction machine 10 operates in the work process. The operation content describes the specific content of the work performed by the construction machine 10 in the work process.
　ステップＳ３０７では、可用性判定部１２５は、ステップＳ３０５で計算した更新期間と、Ｓ３０６で取得した稼働計画を比較する。続くステップＳ３０８で、可用性判定部１２５は、建設機械１０がソフトウェア更新を実行している間に建設機械１０が停止していてもオペレータの作業の進捗に影響を与えないことを確認するため、建設機械１０における稼働計画情報を確認する。 In step S307, the availability determination unit 125 compares the update period calculated in step S305 with the operation plan acquired in S306. In the following step S308, the availability determination unit 125 constructs the construction machine 10 in order to confirm that even if the construction machine 10 is stopped while the construction machine 10 is executing the software update, the progress of the operator's work is not affected. Check the operation plan information of the machine 10.
　例えば、ステップＳ３０５で計算されたソフトウェア更新期間が１２：００－１２：３０だとする。可用性判定部１２５は、ソフトウェア更新期間である１２：００－１２：３０は稼働計画情報に含まれているかどうかを確認する。もし、１２：００－１２：３０の間に実行される作業があること（時間的に重複していること）を稼働計画情報が示していれば、ソフトウェア更新を実行してしまうとオペレータの作業の進捗に影響を与えるため、動作はステップＳ３１０に移行する。一方、１２：００－１２：３０の間に実行される作業がなければ、ソフトウェア更新を実行してもオペレータの作業の進捗に影響を与えないので、動作はステップＳ３０９に移行する。 For example, assume that the software update period calculated in step S305 is 12: 00-12: 30. The availability determination unit 125 confirms whether or not the software update period 12: 00-12: 30 is included in the operation plan information. If the operation plan information indicates that there is work to be executed between 12:00 and 12:30 (time overlap), the operator's work will be performed if the software update is executed. The operation shifts to step S310 in order to affect the progress of. On the other hand, if there is no work to be executed between 12:00 and 12:30, the operation proceeds to step S309 because the execution of the software update does not affect the progress of the operator's work.
　ステップＳ３０９では、可用性判定部１２５は、ステップＳ３０２～３０８において、ドア１３は施錠され、且つ建設機械１０の稼働計画とソフトウェア更新時間は重複していないと判断された結果、所定の可用性を満たしていると判断されるので、可用性の判定結果としてＹＥＳを出力する。 In step S309, the availability determination unit 125 satisfies the predetermined availability as a result of determining in steps S302 to 308 that the door 13 is locked and that the operation plan of the construction machine 10 and the software update time do not overlap. Since it is determined that there is, YES is output as the availability determination result.
　一方、ステップＳ３１０では、ステップＳ３０２でＮＯの判定がされるか、又はステップＳ３０８でＹＥＳの判定がされた場合に、可用性判定部１２５は、更新実行部１２６に対し、可用性の判定結果としてＮＯを出力する。 On the other hand, in step S310, when NO is determined in step S302 or YES is determined in step S308, the availability determination unit 125 determines NO as the availability determination result for the update execution unit 126. Output.
　この第３の実施形態によれば、さらに可用性の判定のファクターとして、建設機械の稼働計画情報も参照するようにしたので、オペレータの作業へ与える影響をより少なくすることができる。例えば、稼働計画の中継続して作業する時間帯ではあるが、オペレータが一時的に建設機械１０から離れるためにドア１３を施錠したような場合において、ソフトウェア更新が実行されないようにすることができる。 According to this third embodiment, since the operation plan information of the construction machine is also referred to as a factor for determining the availability, the influence on the operator's work can be further reduced. For example, it is possible to prevent the software update from being executed when the operator locks the door 13 to temporarily move away from the construction machine 10 during the continuous work time in the operation plan. ..
　なお、本実施形態においては、安全性判定と可用性判定として、それぞれ上記の判定条件を例に説明したが、これに限るものではない。例えば、安全性の判定をこのような位置情報によるものだけではなく、例えば超音波やレーザによる障害物検知センサの情報を用いて、周囲に危険な物体の無いことを判定するようにしてもよい。また、可用性の判定では、稼働計画情報を参照するものだけでなく、例えば位置情報部１１２からの位置情報を利用して、駐機場や倉庫にいるときにだけソフトウェア更新が行われるようにしてもよい。 In the present embodiment, the above judgment conditions have been described as examples for the safety judgment and the availability judgment, but the present invention is not limited to this. For example, the safety may be determined not only by such position information but also by using the information of an obstacle detection sensor such as an ultrasonic wave or a laser to determine that there is no dangerous object in the surroundings. .. Further, in the determination of availability, not only the one that refers to the operation plan information but also the one that uses the location information from the location information unit 112, for example, the software is updated only when the aircraft is parked or in the warehouse. Good.
［その他］
　本発明は上記した実施例に限定されるものではなく、様々な変形例が含まれる。例えば、上記した実施例は本発明を分かりやすく説明するために詳細に説明したものであり、必ずしも説明した全ての構成を備えるものに限定されるものではない。また、ある実施例の構成の一部を他の実施例の構成に置き換えることが可能であり、また、ある実施例の構成に他の実施例の構成を加えることも可能である。また、各実施例の構成の一部について、他の構成の追加・削除・置換をすることが可能である。 [Other]
The present invention is not limited to the above-described examples, and includes various modifications. For example, the above-described embodiment has been described in detail in order to explain the present invention in an easy-to-understand manner, and is not necessarily limited to those having all the described configurations. Further, it is possible to replace a part of the configuration of one embodiment with the configuration of another embodiment, and it is also possible to add the configuration of another embodiment to the configuration of one embodiment. Further, it is possible to add / delete / replace a part of the configuration of each embodiment with another configuration.
１０…建設機械、　１１１０…上部旋回体、　１１２０…下部走行体、　１１２１…履帯、　１１３０…作業機、　１１３１…ブーム、　１１３２…アーム、　１１３３…バケット、　１１４０…旋回機構、　１１６０…シリンダ、　１１…通信コントローラ、　１２…更新マスタコントローラ、　１３…ドア、　１４～１６…スレーブコントローラ、　２０…物理鍵、　２１…無線鍵、　３０…サーバ、　１１１…通信部、　１１２…位置情報部、　１２１…データ記憶部、　１２２…更新準備判定部、　１２３…施錠判定部、　１２４…安全性判定部、　１２５…可用性判定部、　１２６…更新実行部、　１２７…時計、　１３１…施錠装置、　１３２…無線鍵受信部、　１４１、１５１、１６１…ＳＷ実行部、　１７０…エンジン、　１７１…ポンプ、　１７２…バルブ、　１７３…操作レバー。 10 ... Construction machinery, 1110 ... Upper swivel body, 1120 ... Lower traveling body, 1121 ... Shoe band, 1130 ... Work machine, 1131 ... Boom, 1132 ... Arm, 1133 ... Bucket, 1140 ... Swivel mechanism, 1160 ... Cylinder, 11 ... Communication Controller, 12 ... update master controller, 13 ... door, 14-16 ... slave controller, 20 ... physical key, 21 ... wireless key, 30 ... server, 111 ... communication unit, 112 ... location information unit, 121 ... data storage unit, 122 ... Update preparation judgment unit, 123 ... Locking judgment unit, 124 ... Safety judgment unit, 125 ... Availability judgment unit, 126 ... Update execution unit, 127 ... Clock, 131 ... Locking device, 132 ... Wireless key receiving unit, 141, 151, 161 ... SW execution unit, 170 ... engine, 171 ... pump, 172 ... valve, 173 ... operation lever.

Claims (9)

  1. 　車体と、前記車体に設けられドアを有する運転室と、前記ドアを施錠する施錠装置とを備えた建設機械において、
    　外部のサーバとの間の通信を制御して前記建設機械の制御のためのソフトウェアの更新情報を受信する通信コントローラと、
    　前記更新情報に従い、前記ソフトウェアの更新動作を実行する更新マスタコントローラと
    　を備え、
    　前記更新マスタコントローラは、前記ドアが前記施錠装置により施錠がされたか否かを判定し、前記施錠装置による施錠が確認された場合、前記ソフトウェアの更新動作を開始するよう構成される
    ことを特徴とする建設機械。     In a construction machine provided with a vehicle body, a driver's cab provided on the vehicle body and having a door, and a locking device for locking the door.
    A communication controller that controls communication with an external server and receives software update information for controlling the construction machine.
    It is equipped with an update master controller that executes the update operation of the software according to the update information.
    The update master controller is characterized in that it determines whether or not the door is locked by the locking device, and when the locking by the locking device is confirmed, the update operation of the software is started. Construction machinery.
  2. 　前記更新マスタコントローラは、
    　前記ソフトウェアの更新の準備が完了したか否かを判定し、前記準備が完了したと判定された場合に、前記施錠に関する判定を行う、請求項１に記載の建設機械。     The update master controller
    The construction machine according to claim 1, wherein it is determined whether or not the preparation for updating the software is completed, and when it is determined that the preparation is completed, the determination regarding the locking is performed.
  3. 　前記施錠装置は、前記ドアに対する物理鍵の挿入及び回転によって前記ドアを施錠する、請求項１に記載の建設機械。 The construction machine according to claim 1, wherein the locking device locks the door by inserting and rotating a physical key into the door.
  4. 　前記施錠装置は、無線鍵から無線信号を受信する無線鍵受信部を備え、前記無線鍵受信部で受信される前記無線信号に従い、前記ドアを施錠するよう構成される、請求項１に記載の建設機械。 The lock device according to claim 1, further comprising a wireless key receiver that receives a wireless signal from the wireless key, and is configured to lock the door according to the wireless signal received by the wireless key receiver. Construction machinery.
  5. 　前記更新マスタコントローラは、
    　前記無線鍵受信部において受信される無線信号の強度が所定のレベル以下である場合に、前記運転室の内部又は前記建設機械の周辺に人がいないと判定する、請求項４に記載の建設機械。     The update master controller
    The construction machine according to claim 4, wherein when the strength of the radio signal received by the radio key receiving unit is equal to or lower than a predetermined level, it is determined that there is no person inside the driver's cab or around the construction machine. ..
  6. 　前記更新マスタコントローラは、
    　前記施錠装置による施錠の有無と、前記建設機械の位置情報に従い、前記建設機械が前記ソフトウェアの更新動作の間に安全な位置にあるか否かに関わる安全性について判定し、
    　前記安全性について肯定的な判定がされた場合に、前記ソフトウェアの更新動作を開始する、請求項１に記載の建設機械。     The update master controller
    Based on the presence / absence of locking by the locking device and the position information of the construction machine, the safety related to whether or not the construction machine is in a safe position during the update operation of the software is determined.
    The construction machine according to claim 1, wherein the software update operation is started when the safety is positively determined.
  7. 　前記更新マスタコントローラは、
    　前記ソフトウェアの更新のために前記建設機械の使用を停止しても良いか否かに関する可用性について判定し、
    　前記安全性及び前記可用性について肯定的な判定がされた場合に、前記ソフトウェアの更新動作を開始する、請求項６に記載の建設機械。     The update master controller
    Determine availability regarding whether or not the construction machine may be decommissioned for software updates.
    The construction machine according to claim 6, wherein the software update operation is started when the safety and the availability are positively determined.
  8. 　前記更新マスタコントローラは、
    　前記建設機械の稼働計画に基づいて、前記可用性を判定する、請求項７に記載の建設機械。     The update master controller
    The construction machine according to claim 7, wherein the availability is determined based on the operation plan of the construction machine.
  9. 　前記更新マスタコントローラは、前記ソフトウェアの更新動作の開始後、前記ドアの解錠がされたか否かを判定し、前記解錠を含む中断条件が確認された場合、前記ソフトウェアの更新動作を中断するよう構成された、請求項１に記載の建設機械。 After the start of the software update operation, the update master controller determines whether or not the door has been unlocked, and if an interruption condition including the unlock is confirmed, the software update operation is interrupted. The construction machine according to claim 1, which is configured as described above.
PCT/JP2020/046597 2019-12-20 2020-12-14 Construction machine WO2021125142A1 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP2021565574A JP7284291B2 (en) 2019-12-20 2020-12-14 construction machinery

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2019-229994 2019-12-20
JP2019229994 2019-12-20

Publications (1)

Publication Number Publication Date
WO2021125142A1 true WO2021125142A1 (en) 2021-06-24

Family

ID=76476620

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2020/046597 WO2021125142A1 (en) 2019-12-20 2020-12-14 Construction machine

Country Status (2)

Country Link
JP (1) JP7284291B2 (en)
WO (1) WO2021125142A1 (en)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006143049A (en) * 2004-11-22 2006-06-08 Nissan Motor Co Ltd Vehicle control system and control program rewriting method of on-vehicle control device
JP2017160600A (en) * 2016-03-07 2017-09-14 日立建機株式会社 Program rewriting device for construction machine
WO2019187392A1 (en) * 2018-03-26 2019-10-03 住友電気工業株式会社 Control device, program update method, and computer program

Family Cites Families (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP4264254B2 (en) 2002-12-19 2009-05-13 株式会社小松製作所 In-vehicle program rewrite control system
JP4121879B2 (en) 2003-03-25 2008-07-23 京セラ株式会社 Mobile device
JP2015101229A (en) 2013-11-26 2015-06-04 日立建機株式会社 Remote program rewriting control system
JP6507884B2 (en) 2015-06-29 2019-05-08 コベルコ建機株式会社 Construction machine and program rewriting system provided with the same
JP6872506B2 (en) 2018-03-06 2021-05-19 日立建機株式会社 Construction machinery

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006143049A (en) * 2004-11-22 2006-06-08 Nissan Motor Co Ltd Vehicle control system and control program rewriting method of on-vehicle control device
JP2017160600A (en) * 2016-03-07 2017-09-14 日立建機株式会社 Program rewriting device for construction machine
WO2019187392A1 (en) * 2018-03-26 2019-10-03 住友電気工業株式会社 Control device, program update method, and computer program

Also Published As

Publication number Publication date
JP7284291B2 (en) 2023-05-30
JPWO2021125142A1 (en) 2021-06-24

Similar Documents

Publication Publication Date Title
US7873455B2 (en) Work vehicle access monitoring and control system
EP2626476B1 (en) Working machine with settings change system
WO2016051524A1 (en) Driving assistance system, vehicle, driving assistance terminal device, and driving assistance program
CN103429477A (en) Vehicle maneuver application interface
US20220237957A1 (en) Management system for working machine
US11965312B2 (en) Device and method for controlling and/or configuring a construction machine
JP2015101229A (en) Remote program rewriting control system
JP5939149B2 (en) Information processing apparatus for vehicle and program update method
CN111950930A (en) Dispatching method, system and equipment for mine area automatic driving vehicle
JP5748627B2 (en) Work machine and work machine rental management system
EP3249531B1 (en) Control means, in-vehicle program rewriting device equipped with same, and in-vehicle program rewriting method
WO2017029985A1 (en) Construction machine and program rewriting system provided with same
WO2021125142A1 (en) Construction machine
JP2010174507A (en) Control device for working machine
JP7252146B2 (en) working machine
JP6418081B2 (en) Construction machine and program rewriting system provided with the same
JP6470668B2 (en) Work machine rental system
CN113508205A (en) Construction machine and information processing device
WO2023054432A1 (en) Work machine activation system, work machine activation method, and work machine
JP7387011B2 (en) Work machine control system
WO2023054470A1 (en) Work machine start-up system, work machine start-up method, and work machine
CN117916430A (en) Work machine starting system and work machine starting method
CN116981813A (en) Control system for work machine and control method for work machine
JP2002268906A (en) Software rewriting method and its system
CN117062959A (en) Work machine starting system and work machine starting method

Legal Events

Date Code Title Description
121 Ep: the epo has been informed by wipo that ep was designated in this application

Ref document number: 20904033

Country of ref document: EP

Kind code of ref document: A1

ENP Entry into the national phase

Ref document number: 2021565574

Country of ref document: JP

Kind code of ref document: A

NENP Non-entry into the national phase

Ref country code: DE

122 Ep: pct application non-entry in european phase

Ref document number: 20904033

Country of ref document: EP

Kind code of ref document: A1